WO2023123541A1

WO2023123541A1 - Dual-motor anti-torque power device applied to self-balancing vehicle, and self-balancing vehicle

Info

Publication number: WO2023123541A1
Application number: PCT/CN2022/070862
Authority: WO
Inventors: 陈瑞
Original assignee: 常州浩万新能源科技有限公司
Priority date: 2021-12-29
Filing date: 2022-01-08
Publication date: 2023-07-06
Also published as: CN216468243U

Abstract

A dual-motor anti-torque power device applied to a self-balancing vehicle, and the self-balancing vehicle. The dual-motor anti-torque power device comprises a roller support (1), a roller unit (2) and an auxiliary rotating roller (3) rotatably connected to the roller support (1), and an auxiliary transmission group (4) and a power output group (5) located at two ends of the roller unit (2). Two power motors which are coaxially arranged are provided in the roller unit (2); output shafts of the two power motors are in transmission connection with the auxiliary transmission group (4) and the power output group (5), respectively; the two output shafts rotate in a same direction, the auxiliary transmission group (4) and the power output group (5) are locked by means of the auxiliary rotating roller (3), and the roller unit (2) rotates to output an anti-torque force; the two output shafts rotate in opposite directions, so that the power output group (5) transmits and outputs power. By arranging the two power motors at the two ends of the roller unit (2), the diameter of the roller unit (2) is properly reduced, and the auxiliary transmission group (4) and the power output group (5) are both arranged outside the roller unit (2), so that the self-balancing vehicle can easily achieve dynamic balance, and the endurance is improved.

Description

A dual-motor anti-torsion power device applied to a balance car and a balance car

technical field

The utility model belongs to the technical field of balance vehicles, in particular to a double-motor anti-torsion power device and a balance vehicle applied to the balance vehicle.

Background technique

The balance ability and battery life of the self-balancing car are important indicators to measure the quality of the self-balancing car, and are also the goals that those skilled in the art are constantly pursuing. For example, a dual-motor counter-torque power system, control system, and control method are disclosed in the patent CN110949587A And the self-balancing car, the patent combines the power/anti-torsion motor with the anti-torsion/power linear conversion system to reduce the size of the body, reduce the unnecessary extra weight of the body, reduce power consumption, and improve battery life ability; as another example, the patent CN110843940A discloses an integrated flywheel and a self-balancing car, by installing the power system, drive system, power supply system and heat dissipation system inside the flywheel structure, so that the weight of the flywheel structure increases, during the rotation of the flywheel It is easier to achieve greater anti-torsion force and provide sufficient stability for the body.

However, the two motors in the above two schemes are arranged in parallel in a casing, so that the diameter of the casing cannot be made very large, which in turn leads to the limitation of the batteries that can be accommodated in the casing, and greatly shortens the battery life of the self-balancing vehicle; In addition, a series of gear sets in the above solution are also arranged in the casing, occupying a part of space, further affecting the spatial layout of the battery, and affecting the battery life of the self-balancing vehicle.

Utility model content

In order to solve the above-mentioned problems in the background technology, the utility model provides a dual-motor anti-torsion power device and a balance car applied to a balance car. The two power motors are arranged in a coaxial manner, and the auxiliary transmission group and power The output groups are all arranged outside the drum unit, which improves the space utilization rate of the battery pack in the drum unit, and greatly improves the battery life and balance ability of the self-balancing vehicle.

The first purpose of this utility model is to provide a dual-motor anti-torsion power device applied to a balance car, which includes a roller bracket, a roller unit and an auxiliary rotating roller that are rotatably connected to the roller bracket, and the roller unit and the auxiliary rotating roller are located respectively. Auxiliary transmission group and power output group at both ends of the turning roller, wherein:

The two ends in the drum unit are respectively provided with a first power motor and a second power motor, and the first power motor and the second power motor are connected with a battery pack and a motor controller fixed in the drum unit; the first power motor has The first output shaft, the second power motor has a second output shaft, the first output shaft is fixedly connected to the rotor of the first power motor, the second output shaft is fixedly connected to the rotor of the second power motor, and the drum unit is connected to the first power motor It is fixedly connected with the stator of the second power motor;

The first output shaft and the second output shaft are coaxially arranged and parallel to the auxiliary rotating roller; the first output shaft is connected to the auxiliary transmission group, and the second output shaft is connected to the power output group;

The first output shaft and the second output shaft rotate in the same direction, so that the auxiliary transmission group and the power output group are locked, and the drum unit rotates to output the reverse torque; the first output shaft and the second output shaft rotate in the opposite direction, so that the auxiliary transmission group and the power output Group transmission, output power.

Further, there are two roller units, respectively the first roller unit and the second roller unit, the first power motor is arranged in the first roller unit, the second power motor is arranged in the second roller unit, and the first roller unit The end away from the first power motor is fixedly connected to the end of the second drum unit away from the second power motor, and each drum unit is provided with a battery pack and a motor controller.

Further, the auxiliary transmission group and the power output group are gear transmission, synchronous belt transmission or chain transmission.

Further, the auxiliary transmission set includes a first gear that is in transmission connection with the first output shaft, a second gear that is in transmission connection with one end of the auxiliary rotating roller, and an intermediate gear that meshes with both the first gear and the second gear for transmission.

Further, the auxiliary transmission group includes a first synchronous pulley that is in transmission connection with the first output shaft, a second synchronous pulley that is in transmission connection with one end of the auxiliary rotating roller, and a synchronous belt that is in transmission connection with the first synchronous wheel and the second synchronous wheel.

Further, the power output group includes a third gear that is in transmission connection with the second output shaft, and a fourth gear that is in transmission connection with the other end of the auxiliary rotating roller, and the third gear is meshed with the fourth gear for transmission.

The second purpose of the utility model is to provide a self-balancing vehicle, which includes any one of the above-mentioned dual-motor anti-torsion power devices, and the dual-motor anti-torsion power devices are fixedly connected to the frame of the self-balancing vehicle through roller brackets.

Compared with the prior art, the beneficial effects of the utility model are:

(1) The dual-motor anti-torsion power device of the present utility model properly reduces the diameter of the drum unit by arranging two power motors at both ends of the drum unit, and arranges the auxiliary transmission group and the power output group at the The outside of the roller unit improves the space utilization rate of the battery pack in the roller unit, greatly improving the battery life and balance ability of the self-balancing vehicle.

(2) Only a battery pack, a power motor and a motor controller are arranged in the drum unit of the dual-motor anti-torsion power device of the present utility model, and other transmission mechanisms are arranged outside the drum unit, so that the structure of the drum unit is simple and easier Achieving dynamic balance is conducive to the actual landing of the balancing ability of the self-balancing vehicle.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creative work.

Fig. 1 is the structural diagram (1) of the utility model dual-motor anti-torsion power unit;

Fig. 2 is the structural diagram (two) of the dual-motor anti-torsion power unit of the present invention;

Among them: 1-roller bracket, 2-roller unit, 3-auxiliary rotating roller, 4-auxiliary transmission group, 41-first gear, 42-second gear, 43-intermediate gear, 5-power output group, 51-the first Three gears, 52-the fourth gear, 6-the first output shaft, and 7-the second output shaft.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. Apparently, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present utility model.

Below in conjunction with accompanying drawing 1 to accompanying drawing 2 and specific embodiment discusses the utility model in detail.

As shown in Figure 1-2, the utility model provides a dual-motor anti-torsion power device applied to a balance car, including a roller bracket 1, a roller unit 2 and an auxiliary rotating roller 3 that are rotatably connected to the roller bracket 1, and Auxiliary transmission group 4 and power output group 5 respectively located at both ends of drum unit 2 and auxiliary turning roller 3, wherein: the two ends of drum unit 2 are respectively provided with a first power motor and a second power motor, the first power motor and The second power motor is connected with a battery pack and a motor controller fixed in the drum unit 2; the first power motor has a first output shaft 6, and the second power motor has a second output shaft 7, and the first output shaft 6 is connected to the first output shaft 7. The rotor of a power motor is fixedly connected, the second output shaft 7 is fixedly connected with the rotor of the second power motor, the drum unit 2 is fixedly connected with the stators of the first power motor and the second power motor, and the first output shaft 6 and the second The output shaft 7 is rotated relative to the drum support 1; the first output shaft 6 and the second output shaft 7 are coaxially arranged and parallel to the auxiliary rotating roller 3; the first output shaft 6 is connected to the auxiliary transmission group 4, and the second output The shaft 7 is connected to the transmission of the power output group 5; the first output shaft 6 and the second output shaft 7 rotate in the same direction, so that the auxiliary transmission group 4 and the power output group 5 are locked, and the drum unit 2 rotates to output counter torque; the first output shaft 6 Reverse rotation with the second output shaft 7, so that the auxiliary transmission group 4 and the power output group 5 are driven to output power. The drum unit of the dual-motor anti-torsion power device of this embodiment is only provided with a battery pack, a power motor and a motor controller, and other transmission mechanisms are arranged outside the drum unit, so that the structure of the drum unit is simple and it is easier to achieve dynamic Balance is conducive to the actual landing of the balance ability of the balance car.

It should be noted that the utility model does not limit the structural composition of the auxiliary transmission group 4 and the power output group 5, as long as the first power motor and the second power motor can rotate in the same direction, the first output shaft 6 and the second output shaft 7 Locked, the drum unit 2 rotates to output anti-torque; or the first power motor and the second power motor rotate in reverse to output power, which belongs to the protection scope of the present invention.

Specifically, in one embodiment, there are two roller units, respectively a first roller unit and a second roller unit, the first power motor is arranged in the first roller unit, and the second power motor is arranged in the second roller unit Inside, the end of the first drum unit away from the first power motor is fixedly connected to the end of the second drum unit away from the second power motor, each drum unit is equipped with a battery pack and a motor controller, and the first output shaft extends The output roller bracket is connected with the auxiliary transmission assembly, and the other end of the second output shaft protruding from the roller bracket is connected with the power output group. It can be known that after one end of the two roller units is fixedly connected, it is equivalent to a roller unit with the same diameter but longer length, and the length direction of the roller unit is the same as the driving direction of the self-balancing vehicle. This can be used when the space between the front and rear of the self-balancing vehicle is large. This layout method improves the utilization rate of the body space; at the same time, more space is left in the roller unit to place the battery, which increases the battery life of the self-balancing vehicle.

Specifically, in one embodiment, the auxiliary transmission group and the power output group are gear transmission, synchronous belt transmission or chain transmission; of course, other similar mechanical mechanisms that can achieve the same power transmission purpose are also applicable to the present invention.

Specifically, in one embodiment, the auxiliary transmission group 4 includes a first gear 41 that is in transmission connection with the first output shaft 6, a second gear 42 that is in transmission connection with one end of the auxiliary rotating roller 3, and a transmission connection between the first gear 41 and the second gear. Two gears 42 all mesh with the middle gear 43 of transmission; the power output group 5 includes a third gear 51 that is transmission connected with the second output shaft 7, and a fourth gear 52 that is transmission connected with the other end of the auxiliary rotating roller 3, and the third gear 51 Engage with the fourth gear 52 for transmission.

The principle of the above-mentioned embodiment is explained as follows: when the first output shaft 6 and the second output shaft 7 rotate in the same direction, the first gear 41 rotates in the same direction as the first output shaft 6, and the intermediate gear 43 and the first gear 41 rotate in the same direction. The direction of rotation of the second gear 42 is opposite to that of the intermediate gear 43, that is, the direction of rotation of the second gear 42 is the same as that of the first gear 41; the direction of rotation of the third gear 51 is the same as that of the second output shaft 7, and the direction of rotation of the fourth The rotation direction of the gear 52 is opposite to that of the third gear 51, that is, the rotation direction of the fourth gear 52 is opposite to that of the first gear 41; The second gear 42 and the fourth gear 52 have the same force, and when the direction is opposite, the auxiliary rotating roller 3 does not rotate; the auxiliary transmission group 4 and the power output group 5 are all locked, and at this time, the stator of the power motor drives the drum unit 2 and The battery pack and the motor controller fixed in the roller unit 2 rotate to output anti-torque force to keep the balance car in balance. When the rotation direction of the first output shaft 6 and the second output shaft 7 were opposite, the rotation direction of the second gear 42 was the same as that of the first gear 41, and the rotation direction of the fourth gear 52 was opposite to that of the third gear 51, because the first gear 41 The rotation direction of the third gear 51 is opposite, so the rotation direction of the fourth gear 52 is the same as that of the second gear 42. The auxiliary rotating roller 3 rotates under the drive of the fourth gear 52 and the second gear 42, and the power passes through the third gear 51. Or the fourth gear 52 for output. When it is necessary to output both anti-torque and power, it can be realized by controlling the output power of the two power motors. It can be known that the direction of the reverse torque and the rotation direction of the power output can be controlled by the direction of the relative torque difference between the two power motors.

Specifically, in another embodiment, the auxiliary transmission group includes a first synchronous wheel that is drivingly connected to the first output shaft, a second synchronous wheel that is drivingly connected to one end of the auxiliary rotating roller, and a synchronous wheel that is synchronous with the first synchronous wheel and the second synchronous wheel. The synchronous belt connected by the wheel transmission; the working principle is the same as the above-mentioned structure, and will not be repeated.

The utility model also provides a balance car, including any one of the above dual-motor anti-twist power device, the double-motor anti-twist power device is fixedly connected with the frame of the balance car through the roller bracket; the balance car in this embodiment has All the advantages of the dual-motor anti-torque power unit will not be repeated here.

Specifically, the self-balancing vehicle of this embodiment also includes a vehicle body posture detection system and a power system installed on the vehicle frame; obtain the current body posture of the self-balancing vehicle in real time according to the vehicle body posture detection system;

During the driving process of the self-balancing car, if it is judged that the current body posture of the self-balancing car has reached the preset overturning posture, the two power motors in the drum unit are controlled to output different powers to drive the auxiliary transmission group and the power output group. At the same time, the roller unit also rotates to correct the current posture of the vehicle body and make the self-balancing vehicle move forward.

During the driving process of the self-balancing car, if it is judged that the current body posture of the self-balancing car has not reached the preset overturning posture, the two power motors in the roller unit are controlled to output the same power in the opposite direction so that the roller unit does not Rotate, the full power output of the power output group;

When the self-balancing car is in the non-driving state, if it is judged that the current body posture of the self-balancing car has reached the preset overturning posture, the two power motors in the roller unit are controlled to output with the same power and the same direction, so that the power output group and The auxiliary transmission group is locked, and the drum unit rotates to output anti-torque force to correct the current body posture of the self-balancing vehicle.

The utility model has been further described above with the help of specific embodiments, but it should be understood that the specific description here should not be interpreted as limiting the essence and scope of the utility model. Various modifications made to the above-mentioned embodiments all belong to the protection scope of the present utility model.

Claims

A dual-motor anti-torque power device applied to a balance car, characterized in that it includes a roller bracket, a roller unit and an auxiliary rotating roller that are rotatably connected to the roller bracket, and are respectively located on the roller unit and the auxiliary rotating roller. Auxiliary transmission group and power take-off group at both ends, of which:

Both ends of the drum unit are respectively provided with a first power motor and a second power motor, and the first power motor and the second power motor are connected with a battery pack and a motor controller fixed in the drum unit ; The first power motor has a first output shaft, the second power motor has a second output shaft, the first output shaft is fixedly connected with the rotor of the first power motor, and the second output shaft is connected to the The rotor of the second power motor is fixedly connected, and the roller unit is fixedly connected with the stators of the first power motor and the second power motor;

The first output shaft and the second output shaft are arranged coaxially and parallel to the auxiliary rotating roller; the first output shaft is connected to the auxiliary transmission group, and the second output shaft is connected to the power output group transmission connection;

The first output shaft and the second output shaft rotate in the same direction, so that the auxiliary transmission group and the power output group are locked, and the drum unit rotates to output a reverse torque; the first output shaft and the second output shaft reversely Rotate to make the auxiliary transmission set and the power output set transmit and output power.
According to claim 1, the dual-motor anti-torque power device applied to a balance car is characterized in that there are two roller units, namely a first roller unit and a second roller unit, and the first power motor It is arranged in the first roller unit, the second power motor is arranged in the second roller unit, and the end of the first roller unit away from the first power motor is connected to the second roller unit. One end away from the second power motor is fixedly connected, and each drum unit is provided with a battery pack and a motor controller.
According to claim 1, the dual-motor anti-torsion power device applied to a balance car is characterized in that, the auxiliary transmission group and the power output group are gear transmission, synchronous belt transmission or chain transmission.
According to claim 1, the dual-motor anti-torsion power device applied to the balance car is characterized in that, the auxiliary transmission group includes a first gear connected to the first output shaft, and the auxiliary rotating roller A second gear connected by transmission at one end, and an intermediate gear meshed with both the first gear and the second gear for transmission.
According to claim 1, the dual-motor anti-torque power device applied to a balance car is characterized in that, the auxiliary transmission group includes a first synchronous wheel connected to the first output shaft, and the auxiliary rotation wheel A second synchronous pulley connected to one end of the roller, and a synchronous belt connected to the first synchronous pulley and the second synchronous pulley.
According to claim 4 or 5, the dual-motor anti-torque power device applied to a balance car is characterized in that, the power output group includes a third gear connected to the second output shaft, and a third gear connected to the second output shaft. The other end of the auxiliary rotating roller is driven by a fourth gear, and the third gear is meshed with the fourth gear for transmission.
A balance car, comprising the dual-motor anti-twist power device according to any one of claims 1-5, characterized in that, the dual-motor anti-twist power device passes through the roller support and the balance car The frame is fixedly connected.